Quote:
Originally Posted by Wildcats1378
A really dumbed down, simple explanation of what is going on would be wonderful  |
Let's use a real life example to indicate the functionality of this control scheme. Let's say you're driving a car, and in 1/4 of a mile, you must stop.
Now, the not-so-smart person will gun it for the entire 1/4 of a mile, and then slam the brakes at the last minute in hopes of stopping at the right location. As you can guess, this is awful as it means terrible overshooting, and in turn, terrible performance.
However, the smart person might go pretty fast for say 1/8 of a mile, and then proceed to decelerate over the last 1/8 of a mile. Now, doing this method, you're much more likely to hit your spot. And, even if you miss the target, you will most likely very slowly move your car on target.
A PID does the same thing as the smart person. It evaluates feedback from the system to determine how much it has to 'gun' the system.
This whitepaper is a short, 2 page document explaining each term, and the extremely simple, FRC related math behind each term.
- Sunny G.